【摘要】 文中提出用于智能移动机器人自主导航的时空多尺度功能视觉方法．其基本思想是根据导航中不同视觉行为（如跟踪道路、躲避障碍物、全局定位等）的要求，设计不同时空尺度的视觉传感器和处理方法，将空域大尺度的全局环视、小尺度的双目注视和时域大尺度的时空远视相结合，快速有效地完成视觉导航的任务．文中强调功能视觉以识别环境或环境中物体的功能特性为目的，而不一定要建立在对环境高层次的识别和理解上．文章最后提出了用单个摄象机实现双目注视、全方位环视和左右两侧时空全景成象的集成视觉传感系统．更多还原

【Abstract】 In this paper, a functional vision approach with multiple scale sensors in space and time is proposed for the autonomous navigation of an intelligent mobile robot. The basic idea is to design special sensing and processing methods in different scales in order to carry out more effectively the required visual behaviors, such as road following, obstacle avoidance, global localization, etc.. It is emphasized that the functional vision is not necessarily based on high level understanding or 3D recovery of the environment, and the tasks of visual navigation can be fulfilled better by recognizing the functionality of the environment and objects in the environment. A comprehensive functional vision system has been designed by integrating fine scale binocular gaze images, large scale omni directional view images, and long time spatio temporal images. A unified multiple scale visual sensing system is proposed to combine binocular vision, omni directional vision and spatio temporal imaging of both sides into a single video camera.更多还原